A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other.